diff --git a/src/main/drivers/compass/compass_ak8963.c b/src/main/drivers/compass/compass_ak8963.c
index dc4ce5f4d2..58d100d9f7 100755
--- a/src/main/drivers/compass/compass_ak8963.c
+++ b/src/main/drivers/compass/compass_ak8963.c
@@ -139,7 +139,7 @@ static bool ak8963Read(magDev_t * mag)
     }
 
     mag->magADCRaw[X] = -parseMag(buf + 0, magGain[X]);
-    mag->magADCRaw[Y] = -parseMag(buf + 2, magGain[Y]);
+    mag->magADCRaw[Y] = parseMag(buf + 2, magGain[Y]);
     mag->magADCRaw[Z] = -parseMag(buf + 4, magGain[Z]);
 
     return true;
diff --git a/src/main/drivers/compass/compass_ak8975.c b/src/main/drivers/compass/compass_ak8975.c
index e280da62a5..c30869c613 100644
--- a/src/main/drivers/compass/compass_ak8975.c
+++ b/src/main/drivers/compass/compass_ak8975.c
@@ -118,7 +118,7 @@ static bool ak8975Read(magDev_t * mag)
     }
 
     mag->magADCRaw[X] = -(int16_t)(buf[1] << 8 | buf[0]) * 4;
-    mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * 4;
+    mag->magADCRaw[Y] = (int16_t)(buf[3] << 8 | buf[2]) * 4;
     mag->magADCRaw[Z] = -(int16_t)(buf[5] << 8 | buf[4]) * 4;
 
     ack = busWrite(mag->busDev, AK8975_MAG_REG_CNTL, 0x01); // start reading again
diff --git a/src/main/drivers/compass/compass_mpu9250.c b/src/main/drivers/compass/compass_mpu9250.c
index db0a7f3213..1e7d6aa178 100755
--- a/src/main/drivers/compass/compass_mpu9250.c
+++ b/src/main/drivers/compass/compass_mpu9250.c
@@ -269,7 +269,7 @@ static bool mpu9250CompassRead(magDev_t * mag)
     }
 
     mag->magADCRaw[X] = -parseMag(buf + 0, magGain[X]);
-    mag->magADCRaw[Y] = -parseMag(buf + 2, magGain[Y]);
+    mag->magADCRaw[Y] = parseMag(buf + 2, magGain[Y]);
     mag->magADCRaw[Z] = -parseMag(buf + 4, magGain[Z]);
 
     memcpy(cachedMagData, &mag->magADCRaw, sizeof(cachedMagData));
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index 3c0b44e907..17e74af93f 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -69,7 +69,7 @@
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
 #define USE_MAG_MPU9250
-#define MAG_MPU9250_ALIGN       CW180_DEG_FLIP
+#define MAG_MPU9250_ALIGN       CW0_DEG
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index 6809178ea1..92afdbb512 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -68,7 +68,7 @@
 #define USE_MAG_IST8308
 #define USE_MAG_LIS3MDL
 
-#define MAG_MPU9250_ALIGN       CW180_DEG_FLIP
+#define MAG_MPU9250_ALIGN       CW0_DEG
 
 #define USE_BARO
 #define BARO_I2C_BUS             BUS_I2C1
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
index ae39f54ebd..918b4971de 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.h
+++ b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -66,8 +66,8 @@
 #define USE_MAG_IST8308
 #define USE_MAG_LIS3MDL
 
-#define MAG_AK9863_ALIGN        CW180_DEG_FLIP
-#define MAG_MPU9250_ALIGN       CW180_DEG_FLIP
+#define MAG_AK9863_ALIGN        CW0_DEG
+#define MAG_MPU9250_ALIGN       CW0_DEG
 
 #define AK8963_CS_PIN           PC15
 #define AK8963_SPI_BUS          BUS_SPI3
diff --git a/src/main/target/CLRACINGF4AIR/target.h b/src/main/target/CLRACINGF4AIR/target.h
index 7d5e3bbe0b..f69eb59f9f 100644
--- a/src/main/target/CLRACINGF4AIR/target.h
+++ b/src/main/target/CLRACINGF4AIR/target.h
@@ -54,6 +54,8 @@
 #define ACC_MPU9250_ALIGN       CW0_DEG
 #define USE_MAG
 #define USE_MAG_MPU9250
+#define MAG_MPU9250_ALIGN       CW90_DEG
+
 // MPU6 interrupts
 #define USE_EXTI
 #define GYRO_INT_EXTI            PC4
diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h
index 5f4f5e870a..b2a3facbb3 100644
--- a/src/main/target/SPARKY/target.h
+++ b/src/main/target/SPARKY/target.h
@@ -48,7 +48,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define MAG_AK8975_ALIGN        CW180_DEG_FLIP
+#define MAG_AK8975_ALIGN        CW0_DEG
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
diff --git a/src/main/target/SPARKY2/target.h b/src/main/target/SPARKY2/target.h
index aac407ac62..0e257fd6da 100644
--- a/src/main/target/SPARKY2/target.h
+++ b/src/main/target/SPARKY2/target.h
@@ -47,7 +47,7 @@
 
 #define USE_MAG
 #define USE_MAG_MPU9250
-#define MAG_MPU9250_ALIGN       CW270_DEG
+#define MAG_MPU9250_ALIGN       CW0_DEG
 
 #define MAG_I2C_BUS             BUS_I2C1
 #define USE_MAG_HMC5883
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index a17a685637..031d42aec8 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -54,7 +54,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define MAG_MPU9250_ALIGN       CW90_DEG_FLIP
+#define MAG_MPU9250_ALIGN       CW270_DEG
 #define USE_MAG_MPU9250
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index fa613bcdca..e6ac0b50b4 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -54,7 +54,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define MAG_AK8963_ALIGN       CW270_DEG_FLIP
+#define MAG_AK8963_ALIGN        CW270_DEG
 #define USE_MAG_AK8963
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883